Adjustable length parallel linkage for agricultural sprayer boom

ABSTRACT

An agricultural sprayer includes a mobile frame, a boom, and a boom-positioning mechanism. The boom is spaced from the frame. The boom-positioning mechanism is configured to support the boom on the frame for selective movement between a raised boom position and a lowered boom position. The boom-positioning mechanism includes a positioning actuator, and a telescoping parallel linkage providing constant spacing between the boom and the frame in the raised boom position and lowered boom position. The positioning actuator is configured to place the boom in the raised boom configuration upon elongation and in the lowered boom position upon retraction. The agricultural sprayer may further include a controller for positioning the boom relative to an underlying surface.

CROSS REFERENCE TO RELATED APPLICATION

This application claims the benefit of U.S. Provisional Application No.62/954,760, filed Dec. 30, 2019, which is hereby incorporated byreference in its entirety.

FIELD

The present disclosure generally relates to agricultural sprayers, andmore specifically to boom-positioning mechanisms for agriculturalsprayers.

BACKGROUND

Agricultural sprayers apply any of various spray materials toagricultural crops or other plants. The spray materials may be liquid orparticulate, and may be fertilizers, pesticides, herbicides, or thelike. The spray material is sprayed or otherwise distributed over theagricultural crops such that an even and expected distribution isachieved. The expected distribution is achieved by keeping the spray acertain distance above (or otherwise relative to) a height of theagricultural crops.

The boom of conventional sprayers is large and extends laterally farfrom the agricultural sprayer. As such, weight distribution between afront axle and a rear axle can cause serious problems if not managedclosely. Existing agricultural sprayers use parallel linkages to raiseand lower the boom to achieve the distance above the crops. However,these parallel linkages swing the boom outwardly (typically in afore-and-aft direction) relative to the sprayer frame which causes theweight to be distributed too far from the frame.

This background discussion is intended to provide information related tothe present invention which is not necessarily prior art.

BRIEF SUMMARY

Embodiments of the invention solve the above-mentioned problem (as wellas other problems) by providing a boom-positioning mechanism for anagricultural sprayer that is configured to keep a constant lateralspacing between a boom and a frame of the agricultural sprayer. Thisconstant lateral spacing keeps the center-of-gravity for theagricultural sprayer substantially static when the boom is in a raisedboom position or in a lowered boom position (or in any intermediateposition). This provides greater stability for the agricultural sprayeras it performs the spraying tasks, and helps maintain more consistentand precise positioning of the boom relative to the crop canopy.

Embodiments of the invention are broadly directed to an agriculturalsprayer comprising a mobile frame, a boom, and a boom-positioningmechanism. The boom is spaced from the frame. The boom-positioningmechanism is configured to support the boom on the frame for selectivemovement between a raised boom position and a lowered boom position. Theboom-positioning mechanism includes a positioning actuator, and atelescoping parallel linkage providing constant spacing between the boomand the frame in the raised boom position and lowered boom position.

In some embodiments of the invention, the telescoping parallel linkageinclues a left parallel linkage and a right parallel linkage, and thepositioning actuator is disposed between the left parallel linkage andthe right parallel linkage. In other embodiments, the agriculturalsprayer further includes a controller configured to selectivelymanipulate the positioning actuator and the telescoping parallellinkage, with the controller configured to shorten the telescopingparallel linkage upon elongating the positioning actuator so as toprovide a constant spacing between the boom and the frame between theraised boom position and the lowered boom position. The positioningactuator may be configured to place the boom in the raised boomconfiguration upon elongation and in the lowered boom position uponretraction.

Advantages of these and other embodiments will become more apparent tothose skilled in the art from the following description of the exemplaryembodiments which have been shown and described by way of illustration.As will be realized, the present embodiments described herein may becapable of other and different embodiments, and their details arecapable of modification in various respects. Accordingly, the drawingsand description are to be regarded as illustrative in nature and not asrestrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

The Figures described below depict various aspects of systems andmethods disclosed therein. It should be understood that each Figuredepicts an embodiment of a particular aspect of the disclosed systemsand methods, and that each of the Figures is intended to accord with apossible embodiment thereof. Further, wherever possible, the followingdescription refers to the reference numerals included in the followingFigures, in which features depicted in multiple Figures are designatedwith consistent reference numerals. The present embodiments are notlimited to the precise arrangements and instrumentalities shown in theFigures.

FIG. 1 is a perspective view of an agricultural sprayer, having a boomin a raised boom position;

FIG. 2 is a perspective view of the agricultural sprayer similar to FIG.1, but showing the boom in a lowered boom position;

FIG. 3 is a detailed perspective view of the agricultural sprayer ofFIG. 1, emphasizing a boom-positioning mechanism, shown from a rear sidewith the boom in the raised position;

FIG. 4 is a detailed perspective view of the agricultural sprayer ofFIG. 1, shown from a left side;

FIG. 5 is a side view of an agricultural sprayer, having the boomremoved so as to clearly show the boom-positioning mechanism in theraised boom position;

FIG. 6 is a side view of the agricultural sprayer similar to FIG. 5, butdepicting the boom in the lowered boom position;

FIG. 7 is a perspective view of a first embodiment of a boom-positioningmechanism, having a positioning actuator that is centralized and angled;

FIG. 8 is a perspective view of a second embodiment of aboom-positioning mechanism, having two positioning actuators that arespaced apart and angled;

FIG. 9 is a perspective view of a third embodiment of a boom-positioningmechanism, having a positioning actuator that is centralized and morevertical; and

FIG. 10 is a schematic diagram showing hardware components associatedwith a controller.

The Figures depict exemplary embodiments for purposes of illustrationonly. One skilled in the art will readily recognize from the followingdiscussion that alternative embodiments of the systems and methodsillustrated herein may be employed without departing from the principlesof the invention described herein. While the drawings do not necessarilyprovide exact dimensions or tolerances for the illustrated components orstructures, the drawings, not including any purely schematic drawings,are to scale with respect to the relationships between the components ofthe structures illustrated therein.

DETAILED DESCRIPTION

The present invention is susceptible of embodiment in many differentforms. While the drawings illustrate, and the specification describes,certain preferred embodiments of the invention, it is to be understoodthat such disclosure is by way of example only. There is no intent tolimit the principles of the present invention to the particulardisclosed embodiments. For instance, the drawing figures do not limitthe present invention to the specific embodiments disclosed anddescribed herein. Furthermore, directional references (for example, top,bottom, up, and down) are used herein solely for the sake of convenienceand should be understood only in relation to each other. For instance, acomponent might in practice be oriented such that faces referred to as“top” and “bottom” are sideways, angled or inverted relative to thechosen frame of reference.

Exemplary Agricultural Sprayer

Embodiments of the invention are directed to an agricultural sprayer100. As discussed above, agricultural sprayers 100 are utilized toprovide a spray material to a set of crops or other plants within afield. The agricultural sprayer 100 broadly includes a mobile frame 102,a boom 104, and a boom-positioning mechanism 106. The boom-positioningmechanism 106 sets the boom 104 at a certain vertical distance or heightrelative to the mobile frame 102 and/or an underlying surface. The boom104 being disposed at the set height allows for even and predictableapplication of the spray material.

Generally, the mobile frame 102 includes a chassis 108 and wheels 110.The wheels 110 are rotatably secured to the chassis 108 such that themobile frame 102 may move (under its own or an external power, asdiscussed below). The chassis 108 supports the various other componentsdiscussed herein, such as the boom-positioning mechanism 106 and theboom 104. Embodiments of the invention, discussed below, keep the weightdistribution of these various components substantially constant on thewheels 110 and the chassis 108.

The mobile frame 102 may also include a tank 112 for storage of thespray material (which may be a liquid or a particulate). The tank 112 isfluidly connected to one or more spray mechanisms 114 on the boom 104.The spray material may be pulled or pushed out of the tank 112 towardthe spray mechanisms 114, which will apply the spray material to thecrops proximate to the spray mechanism 114. In some embodiments, thetank 112 includes a fill opening 116 and a discharge opening 118 (bestshown in FIGS. 5-6). The fill opening 116 is configured to receive spraymaterial into the tank 112. The discharge opening 118 is located near abottom side of the tank 112 and configured to discharge excess or unusedspray material. The tank 112 may be held to the chassis 108 via aretention strap 120 that is secured to a tank mount 122 (best shown inFIGS. 5-6).

In some embodiments, the agricultural sprayer 100 is manned andself-propelled, such as illustrated in FIGS. 1 and 2. In theseembodiments, the mobile frame 102 is part of a tractor 124, vehicle, orother machine. The mobile frame 102 is configured to support a driverthereon for operation of the tractor 124. The tractor 124 preferablyincludes a cab 126 or other seat for the driver. The cab 126 issupported on the chassis 108 of the mobile frame 102 and configured tosupport the driver. In some embodiments, such as those illustrated, thecab 126 may include walls 128, a roof 130, and a windshield 132. Themobile frame 102 may further include a ladder 134 to allow the driver toeasily access the cab, which may include a handrail 136.

In some embodiments, a motor 138 is supported on the mobile frame 102and configured to propel the mobile frame 102. Examples of a motor 138may include an internal combustion engine, a hybrid engine, an electricmotor, or other power generator. The motor 138 drives one or more of thewheels 110 to impart a rotation thereon, which propels the mobile frame102. The mobile frame 102 moves such that the spray material may bespread evenly over a large area.

In other embodiments, not illustrated, the agricultural sprayer isunmanned and self-propelled. In these embodiments, the agriculturalsprayer may include the above-discussed motor without theabove-discussed cab. The agricultural sprayer of this embodiment may beremotely driven or driven via artificial intelligence.

In other embodiments, not illustrated, the agricultural sprayer isexternally propelled. In these embodiments, the mobile frame is atrailer configured to be pulled by a tractor or other machine. Thetrailer may be a more cost-effective option because the driver canutilize a standard tractor to move the trailer, without having aseparate tractor specifically for agricultural spraying. Theagricultural sprayers of these embodiments may include a chassis,wheels, a tank, a boom-positioning mechanism, and a boom.

The boom 104 is configured to be deployed in a substantiallyhorizontal-lateral configuration and stowed in a substantiallyhorizontal-axial configuration. In the deployed horizontal-lateralconfiguration, as shown in FIGS. 1-4, the boom 104 extends laterallyoutward from respective sides of the mobile frame 102. This allows theboom 104 to be spread over a wide area for the application of the spraymaterials. In the horizontal-axial configuration, not illustrated, theboom 104 is substantially aligned with a direction of travel of themobile frame 102. This allows the boom 104 to be stowed so as tomaximize ease of travel and to store the boom 104 between operations.

As illustrated in FIGS. 1 and 2, the boom 104 includes a central segment140, a left segment 142, and a right segment 144 (“left” and “right” asused herein from a perspective of the driver of the exemplaryembodiment). The left segment 142 and the right segment 144 are eachindependently movable relative to the central segment 140. Thus, theboom 104 is in the deployed orientation when the left segment 142 andthe right segment 144 are both in an extended orientation (e.g.,perpendicular to the direction of travel, as shown in FIGS. 1 and 2),and the boom 104 is in the stowed configuration when the left segment142 and the right segment 144 are both in a collapsed orientation (e.g.,parallel to the direction of travel, not illustrated). Preferably, theleft segment 142 and the right segment 144 swing forwardly (relative toa direction of travel) and extend along the tank 112.

In embodiments of the invention, the boom 104 is disposed generally at arear side of the mobile frame 102, as illustrated in FIGS. 1 and 2. Inthese embodiments, the central segment 140 may be directly secured tothe rear side of the mobile frame 102 via the below-discussedboom-positioning mechanism 106, as best illustrated in FIGS. 3 and 4,with the left segment 142 and the right segment 144 extending laterallyfrom the central segment 140. In other embodiments, not illustrated, theboom is disposed generally at a front side of the mobile frame. Thefront side is opposite the above-discussed rear side. In theseembodiments, the central segment may be secured directly to the frontside of the mobile frame via the below-discussed boom-positioningmechanism, with the left segment and the right segment extendinglaterally from the central segment. In still other embodiments, notillustrated, the boom is disposed alongside the mobile frame between therear side and the front side. In these embodiments, there may be nocentral segment. Instead, the left segment and the right segment may besecured directly to the mobile frame. In these embodiments, the leftsegment and the right segment may each have an associated andindependent boom-positioning mechanism.

In embodiments of the invention, best shown in FIGS. 3 and 4, the boom104 includes a left deployment actuator 146 and a right deploymentactuator 148. The left deployment actuator 146 is disposed between thecentral segment 140 and the left segment 142. The right deploymentactuator 148 is disposed between the central segment 140 and the rightsegment 144. The left deployment actuator 146 swings the left segment142 laterally about a left pivot 150. The right deployment actuator 148swings the left segment 142 laterally about a right pivot 152. In thedeployed position, the left segment 142 and the right segment 144 areboth aligned with the central segment 140 to form a generally straightboom 104 that is perpendicular to the fore-and-aft axis. In the stowedposition, the left segment 142 and the right segment 144 are bothperpendicular to the central segment 140, so as to form a generalU-shape of the boom 104 when viewed from above (not illustrated).

In some embodiments, the boom 104 may include vertical deploymentactuators 154 and vertical pivots 156, as best shown in FIG. 3. Thus,the left segment 142 and the right segment 144 may be angularlypositioned about a fore-and-aft axis, by swinging up and down about therespective fore-and-aft axes defined by the vertical pivots 156.

The boom 104 includes or is otherwise associated with the set of spraymechanisms 114 each configured to apply the spray material from the tank112. Each of the spray mechanisms 114 is fluidly coupled to the tank112. In some embodiments, the fluid connection may be via a hose (notillustrated), plumbing, or other fluid passageway. The spray mechanisms114 expel the spray material. In embodiments, the mobile frame 102 mayinclude agitators and re-circulators (not illustrated) for moving thespray material through the boom 104, the plumbing, and any filters. Thisreduces the likelihood of settling or clogging of the spray material,especially during times that the agricultural sprayer 100 is not in use.

Exemplary Boom-Positioning Mechanisms

The boom-positioning mechanism 106 is configured to support the boom 104on the mobile frame 102 for selective movement between a raised boomposition (shown in FIGS. 1 and 3-5) and a lowered boom position (shownin FIG. 2), and which may include intermediate boom positions betweenthe raised boom position and the lowered boom position. The raised boomposition and the lowered boom position set the vertical height of theboom 104 relative to an underlying surface (e.g., the ground) upon whichthe mobile frame 102 is moving. The vertical height of the boom 104relative to the underlying surface dictates spray characteristics. Thus,the user may desire to have the spray mechanisms 114 disposed a certaindistance above an average crop height, a certain distance above ameasured crop height (as measured via a sensor, discussed below), or acertain distance above the ground level. The user (and/or a controller,discussed below) will position the boom-positioning mechanism 106 suchthat the boom 104 is placed at the certain distance. The boom 104 willremain at the certain distance as the mobile frame 102 moves over thearea and sprays the spray materials via the spray mechanisms 114.

The boom-positioning mechanism 106 provides a constant (or substantiallyconstant) horizontal spacing between the boom 104 and the mobile frame102 in the raised boom position and lowered boom position (which mayinclude intermediate boom positions). As most clearly shown in FIGS. 5and 6, the boom-positioning mechanism 106 allows the boom 104 (notillustrated in these figures) to move directly up and down between thetwo respective positions. Thus, the boom-positioning mechanism 106 keepsa constant weight distribution of the boom 104 relative to the mobileframe 102, as discussed above.

The boom-positioning mechanism 106 will now be discussed in more detail,as best illustrated in FIGS. 5-7. The boom-positioning mechanism 106includes a positioning actuator 500 and a telescoping parallel linkage502. The positioning actuator 500 and the telescoping parallel linkage502 work together to move the boom 104 between the raised boom positionand the lowered boom position while keeping the constant horizontalspacing between the boom 104 and the mobile frame 102. The positioningactuator 500 is configured to place the boom 104 in the raised boomconfiguration upon elongation and in the lowered boom position uponretraction. The telescoping parallel linkage 502 provides constantspacing between the boom 104 and the mobile frame 102 in the raised boomposition and lowered boom position. In embodiments, the telescopingparallel linkage 502 moves counter to the positioning actuator 500 so asto keep the constant spacing. Thus, the telescoping parallel linkage 502will retract upon the positioning actuator 500 being elongated, and thetelescoping parallel linkage 502 will elongate upon the positioningactuator 500 retracting. This counter motion may be controlled by thecontroller, as discussed below.

One embodiment of the telescoping parallel linkage 502 is most clearlyshown in FIG. 7. The telescoping parallel linkage 502 of this embodimentincludes a first vertical link 504, a second vertical link 506, a pairof top pivot links 508, and a pair of bottom pivot links 510. The firstvertical link 504 and the second vertical link 506 each have a fixedlength. The first vertical link 504 is secured to the mobile frame 102(as shown in FIGS. 5 and 6). The second vertical link 506 is secured tothe boom 104 (as shown in FIGS. 3 and 4).

In embodiments of the invention, the first vertical link 504 isconfigured to be secured to a frame-mounting bracket 512 (as illustratedin FIGS. 5 and 6). The frame-mounting bracket 512 is secured to thechassis 108 of the mobile frame 102, such as in proximity to the tank112 as illustrated in FIGS. 3-6. The frame-mounting bracket 512 keepsthe first vertical link 504 aligned vertically and secure in relation tothe mobile frame 102. As best shown in FIG. 7, the first vertical link504 of the example embodiment includes an upper rung 514, a lower rung516, and two vertical posts 518. The two vertical posts 518 are disposedbetween the upper rung 514 and the lower rung 516. The first verticallink 504 may further include internal support arms 520 disposeddiagonally between the two vertical posts 518 and the lower rung 516.The first vertical link 504 may further include external support plates522 disposed between the two vertical posts 518 (as best shown in FIG.7) and the chassis 108 (as best shown in FIGS. 5 and 6).

In embodiments of the invention, the second vertical link 506 isconfigured to be secured to the boom 104 (as illustrated in FIGS. 3 and4) at a boom mount 524. The boom mount is secured to the boom 104, alongwith hydraulic lines and plumbing lines for carrying the spray material(not illustrated). The second vertical link 506 of the exampleembodiment includes an upper rung 526, a central rung 528, a lower rung530, and three vertical posts 532. The three vertical posts 532 aredisposed between the upper rung 526 and the lower rung 530. The centralrung 528 is secured to the respective vertical posts 532. The secondvertical link 506 may further include internal support arms 534 disposeddiagonally between the two exterior vertical posts 532 and the lowerrung 530, as well as between the two exterior vertical posts 532 and theupper rung 526.

The pair of top pivot links 508 and the pair of bottom pivot links 510are each selectively extendable between a retracted position (shown inFIG. 5) and an extended position (shown in FIG. 6). The pivot links508,510 change angle relative to the first vertical link 504 and thesecond vertical link 506 in response to movement of the positioningactuator 500 (discussed below). The pivot links 508,510 present a frameend 536 and a boom end 538 (shown in FIGS. 5 and 6). In embodiments ofthe invention, best shown in FIG. 7, the set of pivot links includesfour pivot links 508,510 (the pair of top pivot links 508, disposed tothe left and right, and the pair of bottom pivot links 510, alsodisposed to the left and right).

Each top pivot link 508 is associated with an upper boom-side pivot 540and an upper frame-side pivot 542. Each bottom pivot link 510 isassociated with a lower boom-side pivot 546 and a lower frame-side pivot548. The respective pivots allow free pivoting of the respective pivotlinks, thus forming the parallel linkage. The respective pivot linksalso elongate and retract, thus forming the telescoping parallel linkage502. In embodiments, each of the respective pivot links are kept at thesame length as the other respective links. The respective pivot linkspresenting the same length keeps the second vertical link 506 in avertical configuration regardless of the angle of the respective pivotlinks relative to the first vertical link 504.

Returning to FIGS. 5 and 6, the telescoping parallel linkage 502 and thepositioning actuator 500 are illustrated. It should be appreciated thatFIGS. 5 and 6 show the telescoping parallel linkage 502 from a side viewsuch that only one of two parallel linkages is visible. This is done tosimplify the view, such that the lateral spacing can be seen. The twoparallel linkages are best illustrated in FIG. 7. Embodiments of theinvention may include the two parallel linkages, being verticallyparallel to one another as shown in FIG. 7, or may include a singleparallel linkage (not illustrated).

The telescoping parallel linkage 502 is a four-bar linkage. The fourcomponents of the four-bar linkage are the first vertical link 504, thetop pivot link 508, the second vertical link 506, and the bottom pivotlink 510. As shown in FIG. 7, the telescoping parallel linkage 502 mayinclude a left parallel linkage 550 and a right parallel linkage 552. Insome of these embodiments, the positioning actuator 500 being disposedbetween the left parallel linkage 550 and the right parallel linkage552. The left parallel linkage 550 includes a top pivot link 508, abottom pivot link 510, a vertical post 518 of the first vertical link504, and a vertical post 532 of the second vertical link 506. The rightparallel linkage 552 includes a top pivot link 508, a bottom pivot link510, a vertical post 518 of the first vertical link 504, and a verticalpost 532 of the second vertical link 506.

The positioning actuator 500 is disposed between the boom 104 and themobile frame 102 such that the positioning actuator 500 may set theposition of the boom 104 relative to the mobile frame 102. Thepositioning actuator 500 is configured to place the boom 104 in theraised boom configuration upon elongation and in the lowered boomposition upon retraction. The positioning actuator 500 is pivotablysecured between the boom 104 at a boom-side pivot 554 and the mobileframe 102 at a frame-side pivot 556 (shown in FIG. 7), such that thepositioning actuator 500 changes an angle relative to the mobile frame102 when in the raised boom position and the lowered boom position(compare FIG. 5 to FIG. 6). In some embodiments, the positioningactuator 500 is secured to the first vertical link 504 and the secondvertical link 506. As illustrated in FIG. 7, the positioning actuator500 may be secured to the first vertical link 504 at the upper rung 514and to the second vertical link 506 at the lower rung 530. In otherembodiments, the positioning actuator 500 maybe secured directly to theboom 104 and/or the mobile frame 102 (such as at the chassis 108).

The positioning actuator 500 presents a boom end 558 opposite a frameend 560. In embodiments, the boom end of the positioning actuator 500 isdisposed proximate the top pivot links 508 of the left and rightparallel linkages 550,552. The mobile frame 102 end of the positioningactuator 500 is disposed proximate the bottom pivot links 510 of theleft and right parallel linkages 550,552. The positioning actuator 500is pivotably secured proximate to the upper boom-side pivot 540 andpivotably secured proximate to the lower frame-side pivot 548.

As best shown in FIG. 5, the top pivot link 508 and the bottom pivotlink 510 are in the retracted position when the positioning actuator 500is elongated and the boom 104 is in the raised position. As best shownin FIG. 6, the top pivot link 508 and the bottom pivot link 510 are inthe extended position when the positioning actuator 500 is retracted andthe boom 104 is in the lowered position.

The positioning actuator 500 and the telescoping parallel linkage 502may include one or more hydraulic cylinders. The hydraulic cylinders mayinclude a piston 562 and a tube 564. The positioning actuator 500 mayfurther include an intermediate segment 566. The piston 562 (and/or theintermediate segment 566) moves relative to the tube 564 based uponhydraulic fluid being forced into the tube 564. In some embodiments, thehydraulic cylinders (of the positioning actuator 500 and/or thetelescoping parallel linkage 502) are double-acting cylinders.Double-acting cylinders can be forced to elongate and retract based uponwhich side of the piston 562 the hydraulic fluid is forced. In someembodiments, each hydraulic cylinder of a set of double-acting hydrauliccylinders of the parallel linkage corresponds with a pivot link of theset of pivot links 508,510. In some embodiments, all five hydrauliccylinders (e.g., the positioning actuator 500 and the four pivot links508,510 of the telescoping parallel linkage 502 of the illustratedembodiment) are double-acting hydraulic cylinders. In other embodiments,only the positioning actuator 500 is a double-acting hydraulic cylinderand the four pivot links 508,510 are single-acting cylinders, or someother combination thereof.

Turning to FIG. 8, an alternative embodiment of the boom-positioningmechanism 800 is shown. In this embodiment, the boom-positioningmechanism 800 includes a left positioning actuator 802 and a rightpositioning actuator 804. The left positioning actuator 802 is disposedbetween the top pivot link 806 and the bottom pivot link 808 of the leftparallel linkage 810. The right positioning actuator 802 is disposedbetween the top pivot link 812 and the bottom pivot link 814 of theright parallel linkage 816. This is as opposed to the single,centralized positioning actuator 500 of the embodiment in FIG. 7.

Turning to FIG. 9, another alternative embodiment of theboom-positioning mechanism 900 is shown. In this embodiment, theboom-positioning mechanism 900 includes a single positioning actuator902 that is disposed at a more vertical angle than the embodiment shownin FIG. 7. The second vertical link 904 includes a positioning actuatorbase 906. The positioning actuator base 906 provides a pivot 908 for thepositioning actuator 902 that is laterally nearer to the boom 104 (notdirectly illustrated in this Fig.). This may increase the lifting powerof the positioning actuator 902.

Exemplary Control Steps

Turning to FIG. 10, a schematic diagram of a controller is shown. Thecontroller is an electronic control unit 1000. The electronic controlunit 1000 receives various inputs and/or commands and controls theoperation of the boom-positioning mechanism 106 (and may control otherfunctions of the mobile frame 102 and/or tractor 124, such as thedriving and the spraying of the spray material). The electronic controlunit 1000 may monitor the status and setting of various systems, such asthe boom height.

The electronic control unit 1000 may receive manual boom height controls1002 that instruct the electronic control unit 1000 as to the height ofthe boom 104 as desired by the operator. The electronic control unit1000 may also receive passive or active boom height sensor feedback1004. This is indicative of the height of the boom 104 relative to theheight of the crops. The electronic control unit 1000 may also receiveinput from boom height positioning sensors indicative of the boom heightrelative to the mobile frame 102. For example, these may be positioningsensors from the positioning actuator 500. The electronic control unit100 may also receive input from parallel linkage cylinder positionsensors. These may be indicative of the amount of elongation of the setof pivot links.

Thus, the controller is configured to receive user input indicative of atarget height for the boom 104. The target height may be relative tocrop height level and/or relative to ground level. The target height maybe specified by the user, based upon an amount of coverage desired. Inother embodiments, the user may specify the spray material being usedand the controller will determine the appropriate target height basedupon the spray material being used, the desired effects, characteristicsof the crops, etc.

Based upon the above discussed inputs, the electronic control unit 1000may determine that a change in the boom height is needed. The electroniccontrol unit 100 may send an instruction to first set of hydraulicvalves 1010 and/or a second set of hydraulic valves 1012. The first setof hydraulic valves 1010 is associated with the boom height controlcylinder (e.g., the positioning actuator 500). The second set ofhydraulic valves 1012 is associated with the parallel linkage cylinders(e.g., the top pivot links 508 and the bottom pivot links 510). Thus,the controller is configured to selectively manipulate the positioningactuator 500 and the telescoping parallel linkage 502. In someembodiments, the controller is configured to shorten the telescopingparallel linkage 502 upon elongating the positioning actuator 500 so asto provide a constant spacing between the boom 104 and the mobile frame102 as the boom 104 raises relative to the lowered boom position. Thecontroller is also configured to elongate the telescoping parallellinkage 502 upon retracting the positioning actuator 500 so as toprovide the constant spacing between the boom 104 and the mobile frame102 as the boom 104 lowers relative to the raised boom position. Itshould be appreciated that this inverse movement is also applicable tomovement among any intermediate positions between the raised boomposition and the lowered boom position.

In some embodiments, the controller is configured to operate the firstset of hydraulic valves inversely proportionally to the second set ofhydraulic valves so as to keep the desired constant spacing of the boom104 relative to the frame 102. It should be appreciated that the firstset of hydraulic valves and the second set of hydraulic valves can eachhave any number (which can include one) of hydraulic actuatorsassociated therewith, based upon the various configurations ofactuators. In some embodiments, the controller is configured to retractthe top pivot link 508 and the bottom pivot link 510 while elongatingthe positioning actuator 500 so as to provide constant spacing betweenthe boom 104 and the mobile frame 102 as the boom 104 is positioned intothe raised boom position.

Some embodiments of the invention are directed to a computerized methodof controlling the first set of hydraulic valves and the second set ofhydraulic valves so as to achieve the set height while keeping the samelateral spacing when moving to the set height. Steps of the method mayinclude determining a current height of the boom 104, determining (basedupon input or calculation) a set height for the boom 104, operating thefirst set of hydraulic valves and the second set of hydraulic valvessuch that the boom 104 moves to the set height while remaining at aconstant lateral spacing relative to the mobile frame 102. Thecomputerized method may further include steps of receiving user inputindicative of a target height for the boom 104. The computerized methodmay further include steps of operating the first hydraulic valveinversely proportionally to the second hydraulic valve so as to keepsaid constant spacing; the inverse proportionality being related to thepositioning actuator 500 traveling further between the raised boomposition and the lowered boom position than the telescoping parallellinkage 502 travels between these positions.

Still other embodiments of the invention may be directed to anon-transitory computer readable storage medium having a computerprogram stored thereon, wherein the computer program instructs thecontroller (or other processing element(s)) to perform the abovediscussed steps.

Additional Considerations

In this description, references to “one embodiment,” “an embodiment,” or“embodiments” mean that the feature or features being referred to areincluded in at least one embodiment of the technology. Separatereferences to “one embodiment,” “an embodiment,” or “embodiments” inthis description do not necessarily refer to the same embodiment and arealso not mutually exclusive unless so stated and/or except as will bereadily apparent to those skilled in the art from the description. Forexample, a feature, structure, act, etc. described in one embodiment mayalso be included in other embodiments, but is not necessarily included.Thus, the current technology can include a variety of combinationsand/or integrations of the embodiments described herein.

Although the present application sets forth a detailed description ofnumerous different embodiments, it should be understood that the legalscope of the description is defined by the words of the claim(s) setforth at the end of this patent and equivalents. The detaileddescription is to be construed as exemplary only and does not describeevery possible embodiment since describing every possible embodimentwould be impractical. Numerous alternative embodiments may beimplemented, using either current technology or technology developedafter the filing date of this patent, which would still fall within thescope of the claims.

Throughout this specification, plural instances may implementcomponents, operations, or structures described as a single instance.Although individual operations of one or more methods are illustratedand described as separate operations, one or more of the individualoperations may be performed concurrently, and nothing requires that theoperations be performed in the order illustrated. Structures andfunctionality presented as separate components in example configurationsmay be implemented as a combined structure or component. Similarly,structures and functionality presented as a single component may beimplemented as separate components. These and other variations,modifications, additions, and improvements fall within the scope of thesubject matter herein. The foregoing statements in the paragraph shallapply unless so stated in this description and/or except as will bereadily apparent to those skilled in the art from the description.

As used herein, the terms “comprises,” “comprising,” “includes,”“including,” “has,” “having” or any other variation thereof, areintended to cover a non-exclusive inclusion. For example, a process,method, article, or apparatus that comprises a list of elements is notnecessarily limited to only those elements but may include otherelements not expressly listed or inherent to such process, method,article, or apparatus.

We claim:
 1. An agricultural sprayer comprising: a mobile frame; a boomspaced from the frame; and a boom-positioning mechanism configured tosupport the boom on the frame for selective movement between a raisedboom position and a lowered boom position, said boom-positioningmechanism including a positioning actuator, and a telescoping parallellinkage providing constant spacing between the boom and the frame in theraised boom position and lowered boom position.
 2. The agriculturalsprayer of claim 1, further comprising: a motor supported on the mobileframe and configured to propel the mobile frame; and a cab supported onthe mobile frame and configured to support a driver.
 3. The agriculturalsprayer of claim 1, further comprising: a tank configured to hold aspray material, said boom including a set of spray mechanisms eachconfigured to apply the spray material from the tank, with each of saidspray mechanisms being fluidly coupled to the tank.
 4. The agriculturalsprayer of claim 1, said telescoping parallel linkage including a firstvertical link and a second vertical link, said first vertical linkpresenting a fixed length and being secured to the mobile frame, saidsecond vertical link presenting a fixed length and being secured to theboom.
 5. The agricultural sprayer of any claim 1, said telescopingparallel linkage including a top pivot link and a bottom pivot link,said top pivot link and bottom pivot link each being selectivelyextendable between a retracted position and an extended position.
 6. Theagricultural sprayer of claim 5, said positioning actuator beingconfigured to place the boom in the raised boom configuration uponelongation and in the lowered boom position upon retraction, said toppivot link and said bottom pivot link are in the retracted position whenthe positioning actuator is elongated and the boom is in the raisedposition.
 7. The agricultural sprayer of claim 5, said top pivot linkbeing associated with an upper boom-side pivot and an upper frame-sidepivot, said bottom pivot link being associated with a lower boom-sidepivot and a lower frame-side pivot, said positioning actuator beingpivotably secured proximate to the upper boom-side pivot and pivotablysecured proximate to the lower frame-side pivot.
 8. The agriculturalsprayer of claim 1, said telescoping parallel linkage including a leftparallel linkage and a right parallel linkage, said positioning actuatorbeing disposed between the left parallel linkage and the right parallellinkage.
 9. The agricultural sprayer of claim 8, said left parallellinkage including a top pivot link and a bottom pivot link, said rightparallel linkage including a top pivot link and a bottom pivot link,said positioning actuator being configured to place the boom in theraised boom configuration upon elongation and in the lowered boomposition upon retraction, said positioning actuator presenting oppositeboom and frame ends, said boom end of the positioning actuator beingdisposed proximate the top pivot links of the left and right parallellinkages, said frame end of the positioning actuator being disposedproximate the bottom pivot links of the left and right parallellinkages.
 10. The agricultural sprayer of claim 1, further comprising: acontroller configured to selectively manipulate the positioning actuatorand the telescoping parallel linkage, said controller configured toshorten the telescoping parallel linkage upon elongating the positioningactuator so as to provide a constant spacing between the boom and theframe between the raised boom position and the lowered boom position.11. The agricultural sprayer of claim 10, said controller configured toreceive user input indicative of a target height for the boom.
 12. Theagricultural sprayer of claim 10, said controller communicativelycoupled with a height sensor for the boom.
 13. The agricultural sprayerof claim 10, said positioning actuator and said telescoping parallellinkage including hydraulic cylinders, said controller configured tooperate a first hydraulic valve associated with the positioningactuator, said controller configured to operate a second hydraulic valveassociated with telescoping parallel linkage.
 14. The agriculturalsprayer of claim 13, said hydraulic cylinder of the positioning actuatorbeing a double-acting cylinder, said hydraulic cylinder of thetelescoping parallel linkage being a set of double-acting hydrauliccylinders, said telescoping parallel linkage including a set of pivotlinks, each said hydraulic cylinder of said set of double-actinghydraulic cylinders of the parallel linkage corresponding with a pivotlink of the set of pivot links.
 15. The agricultural sprayer of claim14, said set of double-acting hydraulic cylinders including fourdouble-acting hydraulic cylinders, said set of pivot links includingfour pivot links.
 16. The agricultural sprayer of claim 13, saidcontroller configured to operate the first hydraulic valve inverselyproportionally to the second hydraulic valve so as to keep said constantspacing.
 17. The agricultural sprayer of claim 10, said positioningactuator being configured to place the boom in the raised boomconfiguration upon elongation and in the lowered boom position uponretraction, and said telescoping parallel linkage including a top pivotlink and a bottom pivot link, said top pivot link and bottom pivot linkbeing extendable and retractable;
 18. The agricultural sprayer of claim17, said controller configured to retract the top pivot link and thebottom pivot link while elongating the positioning actuator so as toprovide said constant spacing between the boom and the frame as the boomis positioned into the raised boom position.
 19. The agriculturalsprayer of claim 17, said telescoping parallel linkage including: afirst vertical link presenting a fixed length and being secured to themobile frame; a second vertical link presenting a fixed length and beingsecured to the boom; said top pivot link being associated with an upperboom-side pivot and an upper frame-side pivot; and said bottom pivotlink being associated with a lower boom-side pivot and a lowerframe-side pivot.
 20. The agricultural sprayer of claim 19, saidpositioning actuator being pivotably secured proximate to the upperboom-side pivot and pivotably secured proximate to the lower frame-sidepivot.